Automated container cutting system and method

ABSTRACT

An automated container cutting system for cutting a container includes a cutting platform and a cutting tool held by the cutting platform. The cutting tool is configured to cut the container. The automated container cutting system includes a force feedback sensor operatively connected to the cutting tool such that the force feedback sensor is configured to measure resistive force exerted on the cutting tool. The automated container cutting system includes at least one processor communicatively coupled to the force feedback sensor. The processor is configured to receive resistive force data from the force feedback sensor. The resistive force data represents resistive force exerted on the cutting tool as the cutting tool pierces a wall of the container. The at least one processor is configured to determine whether the cutting tool has penetrated through the wall of the container using the received resistive force data.

BACKGROUND

Automated container cutting systems are known for use in openingcontainers (i.e., cases, boxes, cartons, etc.). However, at least someknown automated container cutting systems may inaccurately cut sometypes of containers. For example, cutting blades of known automatedcontainer cutting systems may penetrate too deep and thereby damage oneor more items contained within a container. Alternatively, the cuttingblades of known automated container cutting systems may insufficientlypenetrate through the thickness of a wall of a container, such that thecut does not enable the container to be opened. Moreover, knownautomated container cutting systems may inaccurately cut containers thathave been deformed (e.g., from handling, storage, etc.) from theoriginal size and/or shape of the container. In another example, tapeprotruding from an exterior side of a container and/or one or more otherirregularities may cause known automated container cutting systems tomisinterpret the exterior boundaries of, and thereby inaccurately cutcontainers.

SUMMARY

In one aspect, an automated container cutting system for cutting acontainer includes a cutting platform and a cutting tool held by thecutting platform. The cutting tool is configured to cut the container.The automated container cutting system includes a force feedback sensoroperatively connected to the cutting tool such that the force feedbacksensor is configured to measure resistive force exerted on the cuttingtool. The automated container cutting system includes at least oneprocessor communicatively coupled to the force feedback sensor. Theprocessor is configured to receive resistive force data from the forcefeedback sensor. The resistive force data represents resistive forceexerted on the cutting tool as the cutting tool pierces a wall of thecontainer. The at least one processor is configured to determine whetherthe cutting tool has penetrated through the wall of the container usingthe received resistive force data.

In another aspect, a computer implemented method is provided forautomated cutting of containers. The method includes implementing, by atleast one processor, the following operations: tracking results of cutsto a plurality of containers of a first container type; and establishingand/or adjusting a programmed cutting depth of a cutting tool for thefirst container type based on the tracked results.

In another aspect, an apparatus is provided for cutting a container. Theapparatus includes a cutting platform and a cutting tool held by thecutting platform. The cutting tool is configured to cut the container.The apparatus includes a force feedback sensor operatively connected tothe cutting tool such that the force feedback sensor is configured tomeasure resistive force exerted on the cutting tool. The force feedbacksensor is configured to be communicatively coupled to a processor,wherein the processor receives resistive force data from the forcefeedback sensor that represents resistive force exerted on the cuttingtool as the cutting tool pierces a wall of the container and determineswhether the cutting tool has penetrated through the wall of thecontainer using the received resistive force data.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an automated container cutting systemaccording to an implementation.

FIGS. 2 a-2 d illustrate movement of a cutting tool of the automatedcontainer cutting system shown in FIG. 1 through the thickness of a wallof a container according to an implementation.

FIG. 3 is graph illustrating an example of a resistive force traceaccording to an implementation.

FIG. 4 is a flow chart illustrating a method for automated cutting of acontainer according to an implementation.

FIG. 5 is a flow chart illustrating another method for automated cuttingof a container according to an implementation.

FIG. 6 is a flow chart illustrating another method for automated cuttingof a container according to an implementation.

FIG. 7 is a flow chart illustrating another method for automated cuttingof a container according to an implementation.

FIG. 8 illustrates an electronic device according to an implementationas a functional block diagram.

DETAILED DESCRIPTION

Automated container cutting systems are known for use in opening aplurality of containers (i.e., cases, boxes, cartons, etc.) usingcutting blades mounted on a cutting platform (e.g., an articulated robotarm, a press, a gantry, a post, etc.). The cutting blades of some knownautomated container cutting systems are configured to open containers bypenetrating a predetermined fixed distance (i.e., cutting depth) intothe container (e.g., from an exterior side of the container, etc.). But,the thickness of the material (e.g., cardboard, etc.) of the containermay vary for different types (e.g., sizes, shapes, strengths, etc.) ofcontainers, for example depending on the structural strengthrequirements dictated by the particular product(s) contained therein,etc. Accordingly, the fixed distance may cause the automated containercutting system to inaccurately cut some types of containers For example,the fixed distance may be greater than the material thickness of somecontainers, which may result in the cutting blade penetrating too deepand possibly damaging one or more items contained therein. For othercontainers, the fixed distance may be less than the material thicknessof the container, which may prevent the cutting blade from penetrating asufficient distance through the thickness of the material that enablesthe container to be opened.

Some known automated container cutting systems are programmed topenetrate a different predetermined fixed distance for each differenttype of container being cut by the system. But, separately programmingdifferent fixed distances for different types of containers may be timeconsuming and/or labor intensive, which may reduce the efficiency and/orcost-effectiveness of the automated container cutting system. Moreover,the cutting blade may not accurately cut containers of the same typedespite being programmed with the same fixed distance. For example,known automated container cutting systems may inaccurately cutcontainers that have been deformed (e.g., from handling, storage, etc.)from the original size and/or shape of the container. In anotherexample, tape protruding from an exterior side of a container and/or oneor more other irregularities may cause known automated container cuttingsystems to misinterpret the exterior boundaries of, and therebyinaccurately cut, the container.

The examples disclosed herein provide an electronic device thatautomatically determines whether a cutting tool has penetrated through awall of a container using resistive force data measured by a forcefeedback sensor operatively connected to the cutting tool. Thedeterminations made by the electronic device enable an automatedcontainer cutting system to successfully cut a plurality containerswhile reducing or preventing damage to items contained within thecontainers. The determinations made by the electronic device also enablethe automated container cutting system to cut containers that do nothave pre-existing (i.e., established, predetermined, etc.) programmedcutting depths. Moreover, the determinations made by the electronicdevice enable an automated container cutting system to cut containersthat have been deformed (e.g., from handling, storage, etc.) from theoriginal size and/or shape of the container. The determinations made bythe electronic device thus improve the accuracy, efficiency, and/or thelike of automated container cutting systems.

In other examples disclosed herein, the electronic device automaticallytracks the results of cuts to a plurality of containers made by anautomated container cutting system, for example cuts to a plurality ofthe same type of containers. The electronic device may use the trackedresults to automatically establish programmed cutting depths forcontainer types that do not have existing programmed cutting depths. Theelectronic device may also use the tracked results to automaticallyadjust the programmed cutting depths of container types havingestablished (e.g., existing, etc.) programmed cutting depths. Theelectronic device may thus increase the efficiency and/or lower theoperational costs of automated container cutting systems. For example,the electronic device may use the tracked results to project a futureexpected sharpness, a maintenance schedule, and/or a lifespan of acutting tool, which may reduce the operational downtime and/or reduce oreliminate scheduled maintenance checks of automated container cuttingsystems.

Certain implementations of the present disclosure provide an automatedcontainer cutting system for cutting a container includes a cuttingplatform and a cutting tool held by the cutting platform. The cuttingtool is configured to cut the container. The automated container cuttingsystem includes a force feedback sensor operatively connected to thecutting tool such that the force feedback sensor is configured tomeasure resistive force exerted on the cutting tool. The automatedcontainer cutting system includes at least one processor communicativelycoupled to the force feedback sensor. The processor is configured toreceive resistive force data from the force feedback sensor. Theresistive force data represents resistive force exerted on the cuttingtool as the cutting tool pierces a wall of the container. The at leastone processor is configured to determine whether the cutting tool haspenetrated through the wall of the container using the receivedresistive force data.

Certain implementations of the present disclosure provide a computerimplemented method for automated cutting of containers. The methodincludes implementing, by at least one processor, the followingoperations: tracking results of cuts to a plurality of containers of afirst container type; and establishing and/or adjusting a programmedcutting depth of a cutting tool for the first container type based onthe tracked results.

Certain implementations of the present disclosure provide an apparatusfor cutting a container. The apparatus includes a cutting platform and acutting tool held by the cutting platform. The cutting tool isconfigured to cut the container. The apparatus includes a force feedbacksensor operatively connected to the cutting tool such that the forcefeedback sensor is configured to measure resistive force exerted on thecutting tool. The force feedback sensor is configured to becommunicatively coupled to a processor, wherein the processor receivesresistive force data from the force feedback sensor that representsresistive force exerted on the cutting tool as the cutting tool piercesa wall of the container and determines whether the cutting tool haspenetrated through the wall of the container using the receivedresistive force data.

Certain implementations of the present disclosure operate in anunconventional manner to automatically determine whether a cutting toolhas penetrated through a wall of a container. Certain implementations ofthe present disclosure enable an automated container cutting system tosuccessfully cut a plurality containers (e.g., cut through the entirethickness of a wall of the containers, etc.) while reducing orpreventing damage to items contained within the containers. Certainimplementations of the present disclosure enable an automated containercutting system to cut a container that does not have a pre-existing(i.e., established, predetermined, etc.) programmed cutting depth.Certain implementations of the present disclosure enable an automatedcontainer cutting system to cut containers that have been deformed(e.g., from handling, storage, etc.) from the original size and/or shapeof the container. Accordingly, certain implementations of the presentdisclosure improve the accuracy, efficiency, and/or the like ofautomated container cutting systems.

Certain implementations of the present disclosure automatically trackthe results of cuts to a plurality of containers, for example cuts to aplurality of containers of the same type. Certain implementations of thepresent disclosure automatically establish programmed cutting depths forcontainer types that do not have existing programmed cutting depths.Certain implementations of the present disclosure automatically adjustthe programmed cutting depths of container types having established(e.g., existing, etc.) programmed cutting depths. Accordingly, certainimplementations of the present disclosure increase the efficiency and/orlower the operational costs of automated container cutting systems.

Certain implementations of the present disclosure enable: (1) theprojection of a future expected sharpness of a cutting tool; (2) theprojection of a maintenance schedule for a cutting tool; and/or (3) theprojection of a life span of a cutting tool. Accordingly, certainimplementations of the present disclosure reduce the operationaldowntime of automated container cutting systems. Moreover, and forexample, certain implementations of the present disclosure reduce oreliminate scheduled maintenance checks of automated container cuttingsystem.

FIG. 1 is a schematic diagram of an implementation of an automatedcontainer cutting system 100 for cutting a plurality of containers(e.g., the container 102, etc.). The automated container cutting system100 includes a cutting platform 104, a cutting tool 106, a forcefeedback sensor 108, and an electronic device 110. The cutting platform104 and the container 102 are shown in FIG. 1 as resting on a worksurface 900 of the system 100 and/or the environment within which thesystem 100 is implemented. As will be described in more detail below,the electronic device 110 is configured to determine whether the cuttingtool 106 has penetrated through a wall (e.g., the wall 112 of thecontainer 102, etc.) of a container using resistive force data receivedfrom the force feedback sensor 108. In some implementations, and as willalso be described in more detail below, the electronic device 110 isconfigured to track the results of cuts to a plurality of containers ofthe same type and establish and/or adjust a programmed cutting depth ofthe cutting tool 106 for the particular type of container based on thetracked results.

The automated container cutting system 100 may be used to cut thecontainers in any environment and for any purpose. For example, thesystem 100 may be used to make cuts into the containers to open thecontainers and/or enable the containers to be opened by anotherautomated system and/or a human operator (e.g., for sale, repackaging,and/or use of items contained therein; for processing returned items;for replenishment of stock in order picking operations and/or points ofsale; etc.). Examples of environments within which the system 100 may beused include, but are not limited to, retail environments, wholesaleenvironments, distribution centers, warehouses, co-packing operations,and/or the like.

Each of the containers cut by the automated container cutting system 100may have any size, shape, wall thickness, and/or other geometry; mayinclude and/or be fabricated from any material(s); and/or may containany type and number of items therein. Examples of materials included bythe containers and/or from which the containers are fabricated include,but are not limited to, cardboard, paper, plastic, corrugated materials,non-corrugated materials, and/or the like. In some implementations, theautomated container cutting system 100 is configured to cut containers:having a variety of different sizes, shapes, wall thicknesses, and/orother geometries; fabricated from a variety of different materials;containing different types and/or numbers of items, and/or the like. Asused herein, a “type” of container (also referred to herein as a“container type”) includes containers: having approximately the sameoriginal (e.g., before handling, storages, etc.) size, shape, wallthickness, other geometry, material composition, and/or the like;containing the same number and/or type of items; and/or the like.

The automated container cutting system 100 may be used within a largersystem (not shown) that includes infrastructure (not shown) that routescontainers to be cut to the automated container cutting system 100. Inother words, the automated container cutting system 100 may be asub-system of the larger system (e.g., the system 100 is one cuttingstation of a larger system that includes a plurality of cuttingstations, etc.). Examples of infrastructure used to route containers tothe automated container cutting system 100 include, but are not limitedto, conveyor systems (e.g., belt conveyors, roller conveyors, overheadconveyors, etc.), rail systems, trolley systems, track systems, mobilerobots, automated vehicles, remote control vehicles, human operators,scanners, and/or the like. In some implementations, the electronicdevice 110 at least partially controls the operations of routingcontainers to the automated container cutting system 100. For example,the electronic device 110 may be a controller and/or other electronicdevice of the larger system that, in addition to controlling at leastsome of the routing operations of containers to the system 100, controlsthe routing of containers to other stations (e.g., other cuttingstations, unpacking stations, storage stations, distribution stations,etc.) of the larger system and/or controls other operations of thelarger system. In another example, the electronic device 110 isdedicated to the automated container cutting system 100 and controls atleast some of the operations that route containers to the system 100.

The automated container cutting system 100 may include one or morecomponents (not shown) that facilitate positioning (e.g., aligning,orienting, locating, etc.) and/or holding containers at the system 100(e.g., relative to the cutting platform 104, etc.) such that thecontainers are secured in a position that enables the cutting tool 106of the system 100 to cut the containers. Examples of components thatfacilitate positioning and holding containers at the automated containercutting system 100 include, but are not limited to, rails, guides,optical sensors, cameras, fixtures, clamps, and/or the like. In someimplementations, the electronic device 110 at least partially controlsthe operations of positioning and/or holding containers at the automatedcontainer cutting system 100. For example, in some implementations theelectronic device 110 is dedicated to the automated container cuttingsystem 100 and controls at least some of the positioning and/or holdingoperations of containers at the system 100. In another example, inaddition to controlling at least some of the positioning and/or holdingoperations of containers at the system 100, in some implementations theelectronic device 110 is a controller and/or other electronic device ofa larger system that controls the positioning and/or holding operationsof other stations (e.g., other cutting stations, unpacking stations,storage stations, distribution stations, etc.) of the larger systemand/or controls other operations of the larger system.

In the implementations shown herein, the cutting platform 104 is anarticulated robot arm 104 a that is configured to hold the cutting tool106, for example on an end portion 114 of the articulated robot arm 104a, as is shown in FIG. 1 . The articulated robot arm 104 a may be anytype of articulated robot arm 104 a that enables the automated containercutting system 100 to function as described and/or illustrated herein.For example, the articulated robot arm 104 a may be configured to move(e.g., translate, rotate, etc.) about any number of axes (two axes,three axes, four axes, six axes, eight axes, etc.). In the exemplaryimplementation, the articulated robot arm 104 a is a 6-axis arm that isconfigured to move about six independent axes. One specific example ofthe articulated robot arm 104 a is a Selective Compliance Assembly RobotArm (SCARA).

The cutting platform 104 is not limited to the articulated robot arm 104a. Rather, the cutting platform 104 additionally or alternativelyincludes any other type of automated cutting platform, such as, but notlimited to, a press, a fixture and/or other support structure (e.g., ahanging structure, a structure that rests on and/or is attached to afloor, etc.), a gantry-style platform, a post-style platform, aComputerized Numerical Control (CNC) machine, a commercially availablerobot, a custom-built device, and/or the like. The cutting platform 104may be powered by any suitable power source, such as, but not limitedto, an electrical power source (e.g., a battery, an electrical powergrid, an electrical generator, etc.), a pneumatic power source, ahydraulic power source, and/or the like.

The cutting tool 106 includes a base 116 and one or more cutters 118.The base 116 of the cutting tool 106 is configured to be held by thecutting platform 104 such that the cutter(s) 118 are configured tofunction as described and/or illustrated herein (e.g., to cut thecontainers along a cutting path, etc.). Each cutter 118 may beconfigured to cut any materials, structures, patterns, and/or the like(e.g., cardboard, paper, plastic, corrugated materials, non-corrugatedmaterials, regular slotted carton (RSC) boxes including corrugatedcarboard, seams, hot melt glue seals, tape, other materials associatedwith containers, creating lines and/or other patterns of perforationsand/or scores, cutting into existing lines and/or other patterns ofperforations and/or scores, etc.). Although two are shown, the cuttingtool 106 may include any number of cutters 118. In the exemplaryimplementation, each cutter 118 of the cutting tool 106 is a blade, butthe cutting tool 106 additionally or alternatively may include any othertype of cutter that enables the cutting tool 106 to function asdescribed and/or illustrated herein. Each blade of the cutter 118 mayinclude any type of blade, such as, but not limited to, straight tipblades, round tip blades, and/or the like. In the exemplaryimplementation, the cutters 118 are configured to cut the containers byslicing the containers as the drilling platform moves the cutting tool106 along the container. In addition or alternative to slicing thecontainers, one or more of the cutters 118 may be configured topassively and/or actively rotate about an axis of rotation (not shown;e.g., free to rotate passively similar to a pizza cutter and/or activelydriven similar to a circular saw, etc.) to facilitate making cuts intothe containers.

In some implementations, the cutting platform 104 is configured tointerchangeably hold different cutting tools 106. For example, thecutting platform 104 may include a hub (e.g., at the end portion 114 ofthe articulated robot arm 104 a, etc.) that is configured to releasablyhold cutting tools 106 such that different cutting tools 106 areinterchangeable on the cutting platform 104 (e.g., can be selectivelysecured to and removed from the cutting platform 104, etc.). In oneexemplary implementation, a hub used to interchangeably hold differentcutting tools 106 is a quick-change hub (e.g., a magnetic coupling, abayonet connection, a plug-in connection, etc.) that enables differentcutting tools 106 to be relatively quickly and easily interchanged(e.g., swapped out, etc.). Optionally, the cutting tool 106 isconfigured to interchangeably hold different cutters 118 (e.g., thecutting tool 106 is configured to releasably hold cutters 118 such thatdifferent cutters 118 are interchangeable on the cutting tool 106, thecutting tool incudes a quick-change hub, etc.).

In some implementations, the cutting platform 104 includes a fixture(not shown) that is capable of simultaneously holding a plurality ofcutting tools 106 and is configured to move (e.g., rotate, slide orotherwise move linearly, etc.) to enable the cutting platform 104 tointerchange between the different cutting tools 106 held thereon (e.g.cycle between the use of the different cutting tools 106, etc.).Moreover, in some implementations the orientation and/or position of thecutting tool 106 relative to the container can be changed to interchangebetween the use of different cutters 118 held by the cutting tool 106.For example, the cutting tool 106 shown in FIG. 1 may be rotatable aboutan axis of rotation 120 to change the orientation of the cutting tool106 relative to the container 102 and thereby interchange between theuse of cutters 118 a and 118 b of the cutting tool 106. In anotherexample, the cutting tool 106 can be moved from the position on a side122 of the container 102 to a position on a different side (e.g., theside 124 shown in FIG. 1 , etc.) of the container 102 to interchangebetween the use of the cutters 118 a and 118 b.

The interchangeability of different cutting tools 106 on the cuttingplatform 104 and/or different cutters 118 on a cutting tool 106 enablescutting tools 106 and cutters 118 of the same type (e.g., for cuttingcontainers of the same type; for performing the same type of cuts; forcutting the same materials, structures, patterns, and/or the like; etc.)to be interchanged, for example for replacing a cutting tool 106 and/orcutter 118 that has been damaged, worn, and/or otherwise rendered lessfunctional, etc. The interchangeability of different cutting tools 106on the cutting platform 104 and/or different cutters 118 on a cuttingtool 106 also enables cutting tools 106 and cutters 118 of differenttypes to be interchanged (e.g., for cutting a different type ofcontainer; for cutting into a different pattern, material, structureand/or the like; for creating a different pattern and/or the like;etc.).

In operation, the cutting platform 104 moves the cutting tool 106relative to the container 102 to perform programmed cuts, slits, scores,perforations, and/or the like. The electronic device 110 and/or anotherelectronic device (not shown, e.g., a controller of the cutting platform104, etc.) controls the cutting operations performed by the automatedcontainer cutting system 100. Optionally, the automated containercutting system 100 and/or a larger system within which the system 100 isimplemented includes one or more sensors (not shown; e.g., opticalsensors, etc.) configured to determine the dimensions of a particularcontainer to be cut. Dimensional information obtained by the sensor(s)is conveyed to the electronic device(s) that control the cuttingoperations to facilitate performing the programmed cutting operations atthe intended location(s) on the container.

As briefly described above, the automated container cutting system 100includes the force feedback sensor 108. The force feedback sensor 108 isoperatively connected to the cutting tool 106 such that the forcefeedback sensor 108 is configured to measure resistive force exerted onthe cutter 118 of the cutting tool 106. The measurements of the forcefeedback sensor 108 generate resistive force data that representsresistive force exerted on the cutter 118 of the cutting tool 106 as thecutter 118 pierces a wall (e.g., the wall 112, etc.) of a container(e.g., the container 102, etc.). The resistive force data includes atleast one measurement of the resistive force exerted on the cutter 118that is taken as the cutter 118 moves through the thickness of thecontainer wall. The resistive force data may include at least onemeasurement of the resistive force exerted on the cutter 118 that istaken as the cutter 118 pierces at least one location along thethickness of the wall of the container. For example, the resistive forcedata may include at least one measurement of the resistive force exertedon the cutter 118 that is taken as the cutter 118 pierces an interiorside of the container wall. In some implementations, the resistive forcedata includes measurements of the resistive force exerted on the cutter118 that are taken as the cutter pierces a plurality of variouslocations along the thickness of the container wall, for example as thecutter 118 pierces an exterior side of the container wall, as the cutter118 pierces an interior side of the container wall, as the cutter 118pierces an internal structure (e.g., corrugation, etc.) of the wall,etc. The resistive force data may include one or more measurements ofthe resistive force exerted on the cutter 118 at any other locationalong the thickness of the container wall. In some implementations, theforce feedback sensor 108 is configured to continually measure theresistive force exerted on the cutter 118 as the cutter 118 movesthrough the thickness of the container wall. In other implementations,the force feedback sensor is configured to measure the resistive forceexerted on the cutter 118 at predetermined intervals as the cutter 118moves through the thickness of the container wall.

For example, FIGS. 2 a-d illustrates an exemplary implementation ofmovement of the cutter 118 of the cutting tool 106 through the thicknessT of the wall 112 of the container 102 during a cutting operation of theautomated container cutting system 100. In FIG. 2 a , the cutter 118 ofthe cutting tool 106 moves in the direction of the arrow 126 toward thewall 112 and an interior 134 of the container 102. FIG. 2 b illustratesthe cutter 118 as having moved in the direction 126 from the positionshown in FIG. 2 a into physical contact with an exterior side 128 of thecontainer wall 112. In FIG. 2 c , the cutter 118 has moved further inthe direction 126 such that the cutter 118 has pierced the exterior side128 of the container wall 112 but has not yet contacted an interior side130 of the container wall 112. FIG. 2 d illustrates the cutter 118 ashaving moved further in the direction 126 such that the cutter 118 haspierced the interior side 130 of the container wall 112. In the positionshown in FIG. 2 d , the cutter 118 has penetrated through the containerwall 112. In other words, the cutter 118 has penetrated the entirethickness T of the container wall 112. For example, the cutter 118 hasmoved in the direction 126 through the entire thickness T of thecontainer wall 112 such that at least a tip 132 of the cutter 118extends (e.g., protrudes, projects, etc.) outwardly from the interiorside 130 in the direction 126 (i.e., at least the tip 132 has moved inthe direction 126 past the interior side 130).

In some implementations, the resistive force data includes a resistiveforce trace composed of a plurality of measurements of the resistiveforce exerted on the cutter 118 of the cutting tool 106 as the cuttermoves toward, through, and/or past the thickness of the container wall.The resistive force trace may be compiled by the force feedback sensor108 and transmitted to the electronic device 110, or the electronicdevice 110 may compile the resistive force trace from measurements ofresistive force received from the force feedback sensor 108. In someexamples, the resistive force trace is compiled from continuousmeasurement of the resistive force exerted on the cutter 118 as thecutter 118 moves through the thickness of the container wall. In otherexamples, the resistive force trace is compiled from a plurality ofdiscrete measurements of the resistive force exerted on the cutter 118as the cutter 118 moves through the thickness of the container wall(e.g., measurements taken at predetermined intervals, measurements takenat predetermined locations along the thickness of the container wall,etc.).

FIG. 3 illustrates one example of a resistive force trace 300 of theresistive force data measured by the force feedback sensor 108.Referring now to FIGS. 2 and 3 , the resistive force exerted on thecutter 118 increases as the cutter 118 moves into the position shown inFIG. 2 b wherein the cutter 118 is in physical contact with, and appliesforce in the direction 126 to the exterior side 128 of the containerwall 112, as shown by line 302 of the resistive force trace 300. Theresistive force exerted on the cutter 118 peaks at point 304, whichrepresent the point in time just prior to the cutter 118 piercing theexterior side 128. After piercing the exterior side 128 of the containerwall 112, the resistive force exerted on the cutter 118 decreases as thecutter 118 moves through the thickness T of the container wall 112toward the interior side 130 of the container wall 112, as illustratedby line 306 of the resistive force trace 300. Point 308 of the resistiveforce trace 300 represents the point in time just prior to the cutter118 piercing the interior side 130 of the container wall 112. As shownby line 310 of the resistive force trace 300, the resistive forceexerted on the cutter 118 decreases further, and at a faster rate, afterthe cutter 118 has pierced the interior side 130 of the container wall112. In other words, the resistive force exerted on the cutter 118decreases after the cutter 118 has moved from the position shown in FIG.2 c to the position shown in FIG. 2 d wherein the cutter 118 has piercedthe interior side 130 of the container wall 112. Point 308 can thus beused as a force change point within the resistive force trace 300 thatindicates that the cutter 118 has pierced the interior side 130 of thecontainer wall 112. Similarly, point 304 of the resistive force trace300 can be used as a force change point within the resistive force trace300 that indicates that the cutter 118 has pierced the exterior side 128of the container wall 112.

In the example of FIG. 3 , the resistive force trace 300 includes a line314 that illustrates an increase in the resistive force exerted on thecutter 118 in the event that the cutter 118 moves sufficiently far inthe direction 126 to physically contact an item contained within theinterior 134 the container 102. Line 314 and/or a peak 316 of line 314can thus be used as an indication that the cutter 118 has physicallycontacted one or more items contained within the container 102. In otherexamples, the resistive force trace 300 does not include the line 314and the point 312 (i.e., the trough of the line 310) indicates the pointin time wherein movement of the cutter 118 in the direction 126 has beenstopped. Moreover, other examples of the resistive force trace 300 mayinclude a line (not shown; e.g., extending from the point 312, extendingfrom the point 316, etc.) that indicates a force exerted on the cutter118 in an opposite direction to the resistive force as the cutter 118 isretracted back through the thickness T of the container wall 112 (e.g.,moved in a direction opposite the direction 126, etc.).

The resistive force trace 300 shown in FIG. 3 is meant only as oneexample of a resistive force trace 300 of the automated containercutting system 100. Other examples and implementations of the automatedcontainer cutting system 100 may include a resistive force trace havingany other profile, shape, geometry, rate of force decrease of lines 306and/or 310, location of the force change points 308 and/or 304, and/orthe like.

Referring again to FIG. 1 , the force feedback sensor 108 includes anytype(s) and number of sensors that enable the force feedback sensor 108to function as described and/or illustrated herein (e.g., to measureresistive force on exerted on the cutter 118 of the cutting tool 106 asthe cutter 118 pierces a wall of the container, generate resistive forcedata, etc.). Examples of the force feedback sensor 108 include, but arenot limited to, analog sensors, mechanical sensors, electronic sensors,digital sensors, strain gauges, pressure sensors, potentiometers,piezoelectric sensors, piezoresistive strain gauges, resistive sensors,force-sensing resistors, capacitive sensors, electromagnetic sensors,potentiometric sensors, load cells, and/or the like. The force feedbacksensor 108 may be operatively connected directly to the cutter 118 ofthe cutting tool 106 for measuring resistive force exerted on the cutter118. In addition, or alternatively, the force feedback sensor 108 isoperatively connected to another structure, location, component, and/orthe like of the cutting tool 106 (e.g., the base 116, etc.) formeasuring resistive force exerted on the cutter 118.

In some implementations, the automated container cutting system 100includes a torque sensor 136. The torque sensor 136 is operativelyconnected to the cutting tool 106 such that the torque sensor 136 isconfigured to measure torque exerted on the cutter 118 of the cuttingtool 106. The measurements of the torque sensor 136 generate torque datathat represents torque exerted on the cutter 118 of the cutting tool 106as the cutter 118 cuts a wall (e.g., the wall 112, etc.) of a container(e.g., the container 102, etc.). Optionally, the torque data includes atorque trace composed of a plurality of measurements of the torqueexerted on the cutter 118 of the cutting tool 106 as the cutter movestoward, through, and/or past the thickness of the container wall.

The torque sensor 136 includes any type(s) and number of sensors thatenable the torque sensor 136 to function as described and/or illustratedherein (e.g., to measure torque exerted on the cutter 118 of the cuttingtool 106 as the cutter 118 cuts a wall of the container, generate torquedata, etc.). Examples of the torque sensor 136 include, but are notlimited to, analog sensors, mechanical sensors, electronic sensors,digital sensors, strain gauges, rotary torque sensors, reaction torquesensors, micro reaction torque sensors, load cells, and/or the like. Thetorque sensor 136 may be operatively connected directly to the cutter118 of the cutting tool 106 for measuring torque exerted on the cutter118. In addition, or alternatively, the torque sensor 136 is operativelyconnected to another structure, location, component, and/or the like ofthe cutting tool 106 (e.g., the base 116, etc.) for measuring torqueexerted on the cutter 118.

In some implementations, the automated container cutting system 100includes one or more cameras 138 positioned on or near the system 100(e.g., on the cutting platform 104, over or next to the container,etc.). Each camera 138 is configured to acquire images of an area thatincludes a container being cut by the automated container cutting system100. As will be described below, the camera(s) 138 may be used todetermine whether any items contained within the containers have beendamaged by the cutter 118 of the cutting tool 106, determine whether acut has been successful (e.g., whether the cutter 118 has cut completelythrough the thickness of the container wall along an approximateentirety of the intended cutting path, whether the cut opens thecontainer or enables the container to be opened, etc.), determinewhether a cut has failed (e.g., whether the cutter 118 has only cutthrough a portion of the thickness of the container wall, whether thecut does not open the container or enable the container to be opened,etc.), and/or the like.

Each camera 138 is configured to acquire any type(s) of image, such as,but not limited to, still images, video images, real-time images,delayed images, visible light images, night vision images, and/or like.For example, in one exemplary implementation, one or more cameras 138 isconfigured to acquire real-time video of the area that includes thecontainer being cut by the system 100. Each camera 138 is any type ofcamera that enables the camera 138 to function as described and/orillustrated herein (e.g., to acquire images of an area that includes acontainer being cut by the system 100, etc.). Examples of the camera 138include, but are not limited to, a still image camera, a video camera, adigital camera, a night vision camera, a visible light camera, alipstick camera, and/or the like. The automated container cutting system100 may include any number of cameras 138.

Optionally, the automated container cutting system 100 includes afollowing mechanism 140 operatively connected to the cutting tool 106.The following mechanism 140 is configured to facilitate maintainingengagement of the cutter 118 of the cutting tool 106 in physical contactwith the container wall as the cutter 118 cuts the wall. For example, asthe cutter 118 cuts a container, the cutter 118 may disengage from acontainer wall that has been deformed (e.g., from handling, storage,etc.) from its original size and/or shape. In other words, the cuttingpath of the cutter 118 may deviate from a surface of a container wallthat has been deformed (e.g., warped, etc.) from its original sizeand/or shape. When the wall of a container is deformed, the followingmechanism 140 is configured to move and/or bias the cutter 118 tomaintain physical contact of the cutter 118 with the container wall andthereby facilitate enabling the cutter to cut the container along theintended cutting path. The following mechanism 140 may include anystructure, means, mechanism, device, and/or the like that enables thefollowing mechanism to function as described and/or illustrated herein,such as, but not limited to, a spring, a linear actuator, a damper,and/or the like.

Referring now to the electronic device 110, the electronic device 110includes one or more processors 142 and one or more optional memories144. As will be described below, the electronic device 110 is configuredto execute the methods described herein with respect to FIGS. 4-7 forautomated cutting of a container. For example, some implementations ofthe electronic device 110 receive resistive force data (e.g., theresistive force trace 300 shown in FIG. 3 , etc.) from the forcefeedback sensor 108 and determine whether the cutting tool 106 haspenetrated through a wall (e.g., the wall 112 of the container 102,etc.) using the received resistive force data. Moreover, and forexample, some implementations of the electronic device 110 track theresults of cuts to a plurality of containers of the same type and, basedon the tracked results, establish and/or adjust a programmed cuttingdepth of the cutting tool 106 for the particular type of container.

The electronic device 110 represents any device executing instructions(e.g., as application programs/software, operating system functionality,or both) to implement the operations and functionality associated withthe electronic device 110. In some implementations, the electronicdevice 110 includes a mobile electronic device or any other portabledevice, for example a mobile telephone, laptop, tablet, computing pad,netbook, and/or the like. In some implementations, the electronic device110 includes less portable devices, for example desktop personalcomputers, servers, controllers, kiosks, tabletop devices, industrialcontrol devices, and/or the like. The electronic device 110 represents agroup of processing units, servers, other computing devices, and/or thelike in some implementations.

In some implementations, the electronic device 110 is located onboardthe cutting platform 104, while in other implementations the electronicdevice 110 is located offboard the cutting platform (e.g., at the siteof a larger system within which the automated container cutting system100 is implemented, at a site remote from the automated containercutting system 100 and/or a larger system within which the system 100 isimplemented, etc.). In some implementations, the electronic device 110is a controller that controls the cutting operations of the cuttingplatform 104 in addition to the functionality of the electronic device110 disclosed herein (e.g., the methods described herein with respect toFIGS. 4-7 , etc.). In other implementations, the electronic device 110is a discrete device from the controller of the cutting platform, forexample the electronic device 110 may be a central server and/or othermonitoring station (e.g., located at the site of the cutting platform104, located remote from the site of the cutting platform 104, etc.)that is optionally communicatively coupled to the controller of thecutting platform 104 for communicating therewith, etc. Moreover, theelectronic device 110 is a component of a cloud service (not shown) thatis optionally communicatively coupled to the controller of the cuttingplatform 104 for communicating therewith.

The electronic device 110 may be configured to be communicativelycoupled, whether directly or indirectly, to the force feedback sensor108. For example, in some implementations the electronic device 110 isindirectly communicatively coupled to the force feedback sensor 108through an electronic storage device (not shown in FIG. 1 ; e.g., amemory, etc.) that stores resistive force data measured by the forcefeedback sensor 108. The communicative coupling of the electronic device110 to the force feedback sensor 108 and/or the electronic storagedevice that stores resistive force data measured by the force feedbacksensor 108 can be wireless (e.g., over Wi-Fi, using Bluetooth®, etc.)and/or can be a wired connection. The communicative coupling of theelectronic device 110 to the force feedback sensor 108 and/or theelectronic storage device that stores resistive force data measured bythe force feedback sensor 108 enables the electronic device 110 toreceive resistive force data measured by the force feedback sensor 108.

In some implementations, the electronic device 110 is configured to becommunicatively coupled, whether directly or indirectly, to the torquesensor 136. For example, in some implementations the electronic device110 is indirectly communicatively coupled to the torque sensor 136through an electronic storage device (not shown in FIG. 1 ; e.g., amemory, etc.) that stores torque data measured by the torque sensor 136.The communicative coupling of the electronic device 110 to the torquesensor 136 and/or the electronic storage device that stores torque datameasured by the torque sensor 136 can be wireless (e.g., over Wi-Fi,using Bluetooth®, etc.) and/or can be a wired connection. Thecommunicative coupling of the electronic device 110 to the torque sensor136 and/or the electronic storage device that stores torque datameasured by the torque sensor 136 enables the electronic device 110 toreceive torque data measured by the torque sensor 136.

Some implementations, the electronic device 110 are configured to becommunicatively coupled, whether directly or indirectly, to the camera138. For example, in some implementations the electronic device 110 isindirectly communicatively coupled to the camera 138 through anelectronic storage device (not shown in FIG. 1 ; e.g., a memory, etc.)that stores images obtained and/or determinations made by the camera138. The communicative coupling of the electronic device 110 to thecamera 138 and/or the electronic storage device that stores imagesand/or determinations of the camera 138 can be wireless (e.g., overWi-Fi, using Bluetooth®, etc.) and/or can be a wired connection. Thecommunicative coupling of the electronic device 110 to the camera 138and/or the electronic storage device that stores images obtained and/ordeterminations made by the camera 138 enables the electronic device 110to receive images obtained and/or determinations made by the camera 138.Optionally, the electronic device 110 is configured to becommunicatively coupled, whether directly or indirectly, to thefollowing mechanism 140, for example using a wireless (e.g., over Wi-Fi,using Bluetooth®, etc.) and/or a wired connection.

The electronic device 110 includes platform software comprising anoperating system (OS) and/or any other suitable platform software toenable application software to be executed on the electronic device 110.For example, the electronic device 158 comprises software stored inmemory and executed on a processor in some implementations. Theelectronic device 110 includes internal hardware, for example video(graphic) cards, sound cards, network cards, television tuners, radiotuners, processors (e.g., the processor 142, etc.), motherboards,memories (e.g., the memory 144, etc.), hard drives, media drives,batteries, power supplies, and/or the like.

In some implementations, the electronic device 110 comprises a trainedregressor (e.g., a random decision forest, directed acyclic graph,support vector machine, neural network, other trained regressor, etc.).Examples of trained regressors include, but are not limited to, aconvolutional neural network, a random decision forest, and/or the like.It should further be understood that the electronic device 110, in someimplementations, operates according to machine learning principlesand/or techniques known in the art without departing from thefunctionality and/or methods described herein. The electronic device 110optionally makes use of training data pairs when applying machinelearning techniques and/or algorithms (e.g., millions of training datapairs (or more) stored in a machine learning data structure, etc.). Insome implementations, a training data pair includes an input or feedbackdata value paired with a criteria update value. For example, the pairingof the two values demonstrates a relationship between the input orfeedback data value and the criteria update value that is used by theelectronic device 110 to determine future criteria updates according tomachine learning techniques and/or algorithms.

In some implementations, the electronic device 110 includes aField-programmable Gate Array (FPGA) and/or a dedicated chip. Forexample, the functionality of the electronic device 110 is implemented,in whole or in part, by one or more hardware logic components in someimplementations. Examples of types of hardware logic components include,but are not limited to, FPGAs, Application-specific Integrated Circuits(ASICs), Application-specific Standard Products (ASSPs),System-on-a-chip systems (SOCs), Complex Programmable Logic Devices(CPLDs), Graphics Processing Units (GPUs), and/or the like. In someimplementations, the electronic device 110 includes external hardware,for example input devices (e.g., keyboards, trackpads, a mouse,microphones, cameras, drawing tablets, headsets, scanners, etc.), outputdevices (e.g., monitors, televisions, printers, speakers, fax machines,etc.), external hard drives, wireless routers, surge protectors,internet of things (IoT) devices, other peripherals, and/or the like.

As briefly described above, the electronic device 110 is configured todetermine whether the cutting tool 106 has penetrated through a wall(e.g., the wall 112 of the container 102, etc.) using resistive forcedata received from the force feedback sensor 108. Accordingly, usingreal-time feedback provided by the force feedback sensor 108, theelectronic device 110 is configured to dynamically evaluate eachcontainer individually as the particular container is being cut suchthat the cutter 118 of the cutting tool 106 can successfully cut (e.g.,cut through the entire thickness of the container wall, etc.) theparticular container, for example without damaging any items containedwithin the container. For example, the electronic device 110 and/or adiscrete controller of the cutting platform can control (e.g., limit,etc.) the cutting depth of the cutter 118 such that the cutter 118 doesnot physically contact the item(s) contained within the container as thecut is being performed. The determination of whether the cutter 118 ofthe cutting tool 106 has penetrated through the container wall mayenable the automated container cutting system 100 to cut a containerthat does not have a pre-existing (i.e., established, predetermined,etc.) programmed cutting depth, for example without damaging item(s)contained within the container. Moreover, the determination of whetherthe cutter 118 has penetrated through the container wall enables thesystem 100 to successfully cut containers that have been deformed (e.g.,from handling, storage, etc.) from the original size and/or shape of thecontainer, for example without damaging item(s) contained within thecontainer (whether or not the a cutting depth has been programmed forthe particular container being cut).

To determine whether the cutter 118 of the cutting tool 106 haspenetrated through the wall of the container, the electronic device 110receives the resistive force data obtained by the force feedback sensor108. As described above, the resistive force data represents theresistive force exerted on the cutter 118 as the cutter 118 pierces thecontainer wall. The electronic device 110 uses the received resistiveforce data to determine whether the cutter 118 has penetrated throughthe container wall. In some implementations, the electronic device 110determines that the cutter 118 has penetrated through the container wallupon a reduction of the resistive force exerted on the cutter 118 as thecutter 118 pierces the container wall. For example, the resistive forceexerted on the cutter 118 may decrease once the cutter 118 has piercedan interior side (e.g., the interior side 130 of the container wall 112,etc.). Accordingly, upon observing a decrease in the resistive forceexerted on the cutter 118, the electronic device 110 may determine thatthe cutter 118 has pierced the interior side of the container wall andhas thereby penetrated through the container wall. In someimplementations, the electronic device 110 determines whether the cutter118 has penetrated through the wall of the container by determining aforce change point (e.g., the force change point 308 shown in FIG. 3 ,etc.) within a resistive force trace (e.g., the resistive force trace300 shown in FIG. 3 , etc.) of the resistive force data received fromthe force feedback sensor 108. For example, the force change pointwithin the resistive force trace may indicate that the cutter 118 haspierced an interior side of the container wall. Of course, other methodsof determining whether the cutter 118 has penetrated through thecontainer wall using resistive force data from the force feedback sensor108 are contemplated as being within the scope of the presentdisclosure.

In one example, and referring now to FIGS. 2 and 3 , during a cuttingoperation the resistive force exerted on the cutter 118 increases as thecutter 118 moves into the position shown in FIG. 2 b wherein the cutter118 is in physical contact with, and applies force in the direction 126to the exterior side 128 of the container wall 112, as shown by line 302of the resistive force trace 300. The resistive force exerted on thecutter 118 peaks at point 304, which represent the point in time justprior to the cutter 118 piercing the exterior side 128. After piercingthe exterior side 128 of the container wall 112, the resistive forceexerted on the cutter 118 decreases as the cutter 118 moves through thethickness T of the container wall 112 toward the interior side 130 ofthe container wall 112, as illustrated by line 306 of the resistiveforce trace 300. Point 308 of the resistive force trace 300 representsthe point in time just prior to the cutter 118 piercing the interiorside 130 of the container wall 112. As shown by line 310 of theresistive force trace 300, the resistive force exerted on the cutter 118decreases further, and at a faster rate, after the cutter 118 haspierced the interior side 130 of the container wall 112. Accordingly,upon observing the force change point 308 and following reduction line310, the electronic device 110 can determine that the cutter 118 haspierced the interior side 130 of the container wall 112. Based on thedetermination that the cutter 118 has pierced the interior side 130 ofthe container wall 112, the electronic device 110 determines that thecutter 118 has penetrated through the container wall 112 (i.e., thecutter 118 has penetrated the entire thickness T of the container wall112).

Referring now to FIGS. 1 and 2 , as described above the determination ofwhether the cutter 118 of the cutting tool 106 has penetrated throughthe container wall may enable the automated container cutting system 100to cut containers that do not have a pre-existing programmed cuttingdepth and/or have been deformed from the original size and/or shape ofthe container, for example without damaging item(s) contained within thecontainer. For example, the determination of whether the cutter 118 haspenetrated through the container wall 112 enables the electronic device110 to confirm the depth of the cut and make real time (i.e., on thefly, etc.) cutting depth adjustments to a particular container beingcut. Specifically, and in one example, upon determining that the cutter118 has penetrated through the wall 112 of the container 102, theelectronic device 110 limits (e.g., halt, stop, reduce, etc.) furthermovement of the cutter 118 toward the interior 134 of the container 102(e.g., in the direction 126, etc.) to thereby limit the cutting depth ofthe cutter 118. In other words, the determination that the cutter 118has penetrated through the container wall 112 indicates that asuccessful cut has been achieved. Accordingly, the electronic device 110may prevent the cutter 118 from damaging item(s) contained within theinterior 134 of the container 102 by preventing the cutter 118 frommoving into physical contact with the item(s). The electronic device 110may limit further movement of the cutter 118 toward the interior 134 bydirectly commanding the cutting platform 104 and/or by instructing acontroller of the cutting platform to limit further movement of thecutter 118.

In another example, upon determining that the cutter 118 has notpenetrated through the container wall 112, the electronic device 110enables further movement of the cutter 118 toward the interior 134 ofthe container 102 (e.g., in the direction 126, etc.) to thereby increasethe cutting depth of the cutter 118. The electronic device 110 enablesfurther movement of the cutter 118 toward the interior 134 until theresistive force data received from the force feedback sensor 108indicates that the cutter 118 has penetrated through the container wall112 (e.g., indicates that the interior side 130 has been pierced asdescribed above, etc.). Once the resistive force data received from theforce feedback sensor 108 indicates that the cutter 118 has penetratedthrough the container wall 112, the electronic device 110 determinesthat a successful cut has been achieved and limits further movement ofthe cutter 118 toward the container interior 134. The electronic device110 may enable further movement of the cutter 118 toward the interior134 by: commanding (whether directly or indirectly through a controllerof the cutting platform 104) the cutting platform 104 to continuemovement of the cutter 118 toward the interior 134; allowing (e.g., notinterfering with, not limiting, not stopping, etc.) movement of thecutter 118 toward the interior 134 to continue; and/or the like.

In some implementations, the electronic device 110 may establish and/oradjust a programmed cutting depth for the type of container that hasbeen successfully cut based on the cutting depth used to achieve thesuccessful cut. Moreover, in addition or alternative to using thereceived resistive force data as described above, some implementationsof the electronic device 110 use torque data measured by the torquesensor 136 and/or one or more images obtained by the camera 138 toverify that a successful cut has been made through the container wall112 (e.g., to verify that the interior side 130 has been pierced by thecutter 118 along an approximate entirety of the intended cutting path,to verify whether the cut opens the container 102 or enables thecontainer 102 to be opened, etc.)

The received resistive force data is optionally used by the electronicdevice 110 to determine whether the cutter 118 moved into physicalcontact with one or more items contained within the interior 134 of thecontainer 102 during the cutting operation (e.g., in real time, afterthe cut has been made, etc.). In other words, the received resistiveforce data may be used by the electronic device 110 to determine whetherone or more items contained within the container interior 134 has beendamaged by the cutter 118. For example, an increase in the resistiveforce exerted on the cutter 118 (e.g., as indicated by the line 314and/or peak 316 of the resistive force trace 300 shown in FIG. 3 , etc.)may indicate that the cutter 118 has physically contacted the item(s)after piercing the interior side 130. In addition or alternative to thereceived resistive force data, some implementations of the electronicdevice 110 use torque data measured by the torque sensor 136 and/or oneor more images obtained by the camera 138 to determine whether thecutter 118 moved into physical contact with one or more items containedwithin the interior 134 of the container 102 during the cuttingoperation. For example, an increase in the torque data measured by thetorque sensor 136 may indicate that the cutter 118 has moved intophysical contact with one or more items contained within the interior134 of the container 102.

As described above, the automated container cutting system 100 mayinclude the following mechanism 140. The following mechanism 140facilitates maintaining engagement of the cutter 118 in physical contactwith the container wall 112 as the cutter 118 moves along the intendedcutting path (e.g., as the cutter 118 moves along a container wall thathas been deformed from its original size and/or shape, etc.). In someimplementations, the following mechanism 140 is biased in a directiontoward the container wall 112 (e.g., the direction 126, etc.) such thatthe following mechanism 140 automatically maintains engagement of thecutter 118 in physical contact with the container wall 112. In additionor alternatively, the electronic device 110 may be configured torecognize that the cutter 118 has disengaged from (i.e., deviated fromthe surface of) the container wall 112 using the received resistiveforce data, the received torque data, and/or images obtained by thecamera 138. For example, the resistive force and/or the torque exertedon the cutter 118 may decrease when the cutter 118 disengages from thecontainer wall 112 during a cut. Upon recognizing that the cutter 118has disengaged from the container wall 112, the electronic device 110may command (whether directly or indirectly through a controller of thecutting platform 104) the following mechanism 140 to move in a directiontoward the container wall 112 (e.g., the direction 126, etc.) tore-engage in physical contact with the container wall 112.

The torque data measured by the torque sensor 136 may enable theelectronic device 110 to determine a dullness of the cutter 118. Forexample, the electronic device 110 may compare the received torque datato historical torque data (e.g., for one or more types of container,etc.) of the cutter 118 and/or expected torque data that is based on themanufactured sharpness of the cutter 118. The electronic device 110 mayuse an increase of torque within the received torque data as compared tothe historical and/or expected torque data to determine that the cutter118 has become dull (e.g., is below a predetermined sharpness, etc.) andmay need to be sharpened, replaced, and/or the like. In someimplementations, the received torque data may be used by the electronicdevice 110 to project a future expected sharpness, a maintenanceschedule (e.g., a future sharpening date, etc.) and/or a life span(e.g., a future replacement date, etc.) of the cutter 118.

As briefly described above, some implementations of the electronicdevice 110 are configured to track (e.g., determine, observe, record,store, etc.) the results of cuts to a plurality of containers of thesame type and establish and/or adjust a programmed cutting depth of thecutting tool 106 for the particular type of container based on thetracked results. For example, the electronic device 110 is configured tolearn (e.g., using machine learning techniques, etc.) what theappropriate cutting depth is for a particular type of container based onprevious cuts performed by the automated container cutting system 100 oncontainers of the same type. The electronic device 110 can thusautomatically establish a programmed cutting depth for container typesthat do not have existing programmed cutting depths, which may increasethe efficiency and/or lower the operational costs of the automatedcontainer cutting system 100 (e.g., as compared to manually determiningthe appropriate cutting depth for a container type, etc.). Moreover, theelectronic device 110 is configured to automatically adjust theprogrammed cutting depths of container types having established (i.e.,existing) programmed cutting depths, which may increase the efficiencyand/or lower the operational costs of the automated container cuttingsystem 100 (e.g., as compared to manually determining that anestablished programmed cutting depth requires adjustment and manuallyperforming the adjustment, etc.).

In some implementations, the electronic device 110 is configured totrack the results of cuts to a plurality of containers of the same typeby recording one or more failed cuts and/or recording one or more overcuts. As used herein, a “failed cut” includes cuts that have notpenetrated through the container wall (i.e., have only cut through aportion of the thickness T of the container wall 112), that do not openthe container, that do not enable the container to be opened, and/or thelike. A used herein, an “over cut” includes cuts wherein the cutter 118has moved into physical contact with one or more items contained withinthe interior of the container, cuts wherein the cutter 118 has moved anunnecessary distance past the interior side of the container wallwithout physically contacting any items contained within the containerinterior, and/or the like. Failed cuts and/or over cuts may be trackedby the electronic device 110 using any information, such as, but notlimited to, using resistive force data measured by the force feedbacksensor 108, using torque data measured by the torque sensor 136, usingone or more images obtained by the camera 138, using observation by ahuman operator, and/or the like.

As described above, the electronic device 110 may adjust the programmedcutting depth of the cutting tool 106 for a container type based on thetracked cut results of the container type. In one example, theelectronic device 110 increases an established programmed cutting depthfor the type of the container 102 based on the recorded cut resultsincluding one or more failed cuts of a container 102. The increasedcutting depth causes the cutter 118 to move farther toward the interior134 of the container 102 (e.g., in the direction 126, etc.) duringfuture cutting operations such that the cutter 118 to penetrates throughthe container wall 112 of subsequent containers 102 of the same type.The value of the increase to the programmed cutting depth selected bythe electronic device 110 may depend, for example, on the number,severity (e.g., distance of the bottom of a failed cut from the interiorside 130, etc.), and/or the like of the failed cut(s).

In another example, the electronic device 110 decreases an establishedprogrammed cutting depth for the type of the container 102 based on therecorded cut results including one or more over cuts of a container 102.The decreased cutting depth causes the cutter 118 to move a shorterdistance toward the interior 134 of the container 102 (e.g., in thedirection 126, etc.) during future cutting operations such that thecutter 118 is less likely to physically contact item(s) contained withinsubsequently cut containers 102 of the same type. Accordingly, thedecreased cutting depth may reduce or eliminate the occurrence of thecutter 118 damaging item(s) contained within subsequently cut containers102 of the same type. The value of the decrease to the programmedcutting depth selected by the electronic device 110 may depend, forexample, on the number, severity (e.g., distance of the cutter tip 132past the interior side 130 in an overcut, etc.), and/or the like of theover cut(s).

As also described above, the electronic device 110 may be configured toestablish a programmed cutting depth for a container type that does nothave an existing programmed cutting depth. In one example, theelectronic device 110 establishes (e.g., generates, calculates,determines, etc.) a programmed cutting depth for the type of thecontainer 102 based on the recorded cut results including one or morefailed cuts of a container 102 and/or one or more over cuts of acontainer 102. For example, the electronic device 110 may analyze therecorded cut results for the type of the container 102 and select avalue (or range of values) for the cutting depth based on the number,severity (e.g., distance of the bottom of a failed cut from the interiorside 130, distance of the cutter tip 132 past the interior side 130 inan overcut, etc.), and/or the like of failed cuts and/or over cuts.

In addition or alternative to tracking the results of cuts to aplurality of containers of the same type, the electronic device 110 maybe configured to store cutting depth data of a vendor and/or a containersource for use establishing and/or adjusting programmed cutting depthsof the cutting tool 106. For example, data relating to a known vendormay be stored to enable the electronic device 110 to fine tune thecutting depth of the cutter 118 for one or more types of containers ofthe vendor. The stored data relating known vendors may include, but isnot limited to: the results of previous cuts performed by the automatedcontainer cutting system 100 on containers of the vendor (e.g., failedcuts, over cuts, etc.); the size, shape, wall thickness, other geometry,and/or material composition of one or more container types of thevendor; and/or the like.

In another example, data relating to a source of one or more containertypes may be stored to enable the electronic device 110 to fine tune thecutting depth of the cutter 118 for one or more types of containers ofthe source. The stored data relating a container source may include, butis not limited to: the results of previous cuts performed by theautomated container cutting system 100 on containers of the source(e.g., failed cuts, over cuts, etc.); the size, shape, wall thickness,other geometry, and/or material composition of one or more containertypes of the source; and/or the like. In some implementations, storingdata relating vendors and/or container sources may enable the automatedcontainer cutting system 100 to achieve successful cuts to a newcontainer type during an initial cutting run of the new container type.In other words, the stored data relating to vendors and/or containersources may enable the system 100 to achieve a good first cut to a neverbefore seen container and/or product.

FIG. 4 illustrates a flow chart of a method 400 for automated cutting ofa container (e.g., the container 102 shown in FIGS. 1 and 2 , etc.)according to an implementation. The method 400 is performed by one ormore electronic devices (e.g., the electronic device 110 shown in FIG. 1, the electronic device 802 shown in FIG. 8 , etc.).

The method 400 includes receiving, at 402, resistive force datarepresenting resistive force exerted on a cutting tool (e.g., thecutting tool 106 shown in FIGS. 1 and 2 , etc.) as the cutting toolpierces a wall (e.g., the wall 112 shown in FIGS. 1 and 2 , etc.) of thecontainer. At 404, the method 400 includes determining whether thecutting tool has penetrated through the wall of the container using thereceived resistive force data.

FIG. 5 illustrates another flow chart of a method 500 for automatedcutting of a container (e.g., the container 102 shown in FIGS. 1 and 2 ,etc.) according to an implementation. The method 500 is performed by oneor more electronic devices (e.g., the electronic device 110 shown inFIG. 1 , the electronic device 802 shown in FIG. 8 , etc.).

The method 500 includes receiving, at 502, resistive force datarepresenting resistive force exerted on a cutting tool (e.g., thecutting tool 106 shown in FIGS. 1 and 2 , etc.) as the cutting toolpierces a wall (e.g., the wall 112 shown in FIGS. 1 and 2 , etc.) of thecontainer. At 504, the method 500 includes determining whether thecutting tool has penetrated through the wall of the container using thereceived resistive force data.

In some implementations, determining at 504 whether the cutting tool haspenetrated through the wall of the container using the receivedresistive force data includes determining, at 504 a, whether the cuttingtool has pierced an interior side (e.g., the interior side 130 shown inFIG. 2 , etc.) of the wall from the received resistive force data.Moreover, determining at 504 whether the cutting tool has penetratedthrough the wall of the container using the received resistive forcedata optionally includes determining, at 504 b, a reduction of theresistive force exerted on the cutting tool as the cutting tool piercesthe wall. Further, in some implementations determining at 504 whetherthe cutting tool has penetrated through the wall of the container usingthe received resistive force data includes determining, at 504 c, aforce change point (e.g., the force change point 308, etc.) within aresistive force trace (e.g., the resistive force trace 300 shown in FIG.3 , etc.) of the received resistive force data. Determining at 504whether the cutting tool has penetrated through the wall of thecontainer using the received resistive force data may include performinga combination of some or all of operations 504 a, 504 b, and 504 c insome implementations.

If it is determined at 504 that the cutting tool has penetrated throughthe wall of the container, the method 500 may include limiting, at 506,movement of the cutting tool toward an interior (e.g., the interior 134shown in FIGS. 2 and 3 , etc.) of the container to limit a cutting depthof the cutting tool. In other words, some implementations of the method500 include limiting at 506 movement of the cutting tool toward theinterior of the container to limit a cutting depth of the cutting toolupon determining at 504 that the cutting tool has penetrated through thewall of the container.

If it is determined at 504 that the cutting tool has not penetratedthrough the wall of the container, the method 500 may include enabling,at 508, further movement of the cutting tool toward the interior of thecontainer to increase a cutting depth of the cutting tool. In otherwords, some implementations of the method 500 include enabling at 508further movement of the cutting tool toward the interior of thecontainer to increase a cutting depth of the cutting tool upondetermining at 504 that the cutting tool has not penetrated through thewall of the container.

The method 500 optionally includes receiving, at 510, torque datarepresenting torque exerted on the cutting tool as the cutting tool cutsthe wall of the container. At 512, the method 500 may includedetermining at least one of a dullness of the cutting tool or contact ofthe cutting tool with an item contained within the container using thereceived torque data.

FIG. 6 illustrates another flow chart of a method 600 for automatedcutting of a container (e.g., the container 102 shown in FIGS. 1 and 2 ,etc.) according to an implementation. The method 600 is performed by oneor more electronic devices (e.g., the electronic device 110 shown inFIG. 1 , the electronic device 802 shown in FIG. 8 , etc.).

The method 600 includes tracking, at 602, results of cuts to a pluralityof containers of a first container type. At 604, the method 600 includesestablishing and/or adjusting a programmed cutting depth of a cuttingtool (e.g., the cutting tool 106 shown in FIGS. 1 and 2 , etc.) for thefirst container type based on the tracked results.

FIG. 7 illustrates another flow chart of a method 700 for automatedcutting of a container (e.g., the container 102 shown in FIGS. 1 and 2 ,etc.) according to an implementation. The method 700 is performed by oneor more electronic devices (e.g., the electronic device 110 shown inFIG. 1 , the electronic device 802 shown in FIG. 8 , etc.).

The method 700 includes tracking, at 702, results of cuts to a pluralityof containers of a first container type. Tracking at 702 the results ofcuts to the plurality of containers of the first container type mayinclude recording, at 702 a at least one failed cut. Moreover, trackingat 702 the results of cuts to the plurality of containers of the firstcontainer type may include recording, at 702 b, at least one over cut.Further, tracking at 702 the results of cuts to the plurality ofcontainers of the first container type may include recording, at 702 c,failed cuts and/or over cuts.

In addition, or alternative to tracking at 702 the results of cuts tothe plurality of containers of the first container type, the method 700optionally includes storing, at 704, cutting depth data of a vendorand/or a container source.

At 706, the method 700 includes establishing and/or adjusting aprogrammed cutting depth of a cutting tool for the first container type,for example based on the tracked results. Establishing and/or adjustingat 706 the programmed cutting depth may include increasing, at 706 a, anestablished programmed cutting depth for the first container type basedon a recorded at least one failed cut. In some examples, establishingand/or adjusting at 706 the programmed cutting depth includesdecreasing, at 706 b, an established programmed cutting depth for thefirst container type based on a recorded at least one over cut.Moreover, establishing and/or adjusting at 706 the programmed cuttingdepth may include establishing, at 706 c, the programmed cutting depthfor the first container type based on recorded failed cuts and/or overcuts. In some implementations, establishing and/or adjusting at 706 theprogrammed cutting depth includes establishing and/or adjusting, at 706d, the programmed cutting depth for the first container type based onthe stored cutting depth data of the vendor and/or the container source.

Exemplary Operating Environment

The present disclosure is operable with an electronic device (i.e., acomputing apparatus) according to an implementation as a functionalblock diagram 800 in FIG. 8 . In an implementation, components of acomputing apparatus 802 are implemented as a part of an electronicdevice according to one or more implementations described in thisspecification. The computing apparatus 802 comprises one or moreprocessors 804, for example microprocessors, controllers, and/or anyother suitable type of processors for processing computer executableinstructions to control the operation of the electronic device. In someimplementations, platform software comprising an operating system 806and/or any other suitable platform software is provided on the apparatus802 to enable application software 808 to be executed on the device.

Computer executable instructions are provided using anycomputer-readable media that are accessible by the computing apparatus802. Computer-readable media include, for example and withoutlimitation, computer storage media such as a memory 810 andcommunications media. Computer storage media, such as a memory 810,include volatile and non-volatile, removable, and non-removable mediaimplemented in any method or technology for storage of information suchas computer readable instructions, data structures, program modules orthe like. Computer storage media include, but are not limited to, RAM,ROM, EPROM, EEPROM, flash memory or other memory technology, CD-ROM,digital versatile disks (DVD) or other optical storage, magneticcassettes, magnetic tape, magnetic disk storage or other magneticstorage devices, or any other non-transmission medium that can be usedto store information for access by a computing apparatus. In contrast,communication media embody computer readable instructions, datastructures, program modules, and/or the like in a modulated data signal,such as a carrier wave and/or other transport mechanism. As definedherein, computer storage media do not include communication media.Therefore, a computer storage medium should not be interpreted to be apropagating signal per se. Propagated signals per se are not examples ofcomputer storage media. Although the computer storage medium (the memory810) is shown within the computing apparatus 802, it will be appreciatedby a person skilled in the art, that in some implementations the storageis distributed or located remotely and accessed via a network or othercommunication link (e.g. using a communication interface 812).

In some implementations, the computing apparatus 802 comprises aninput/output controller 814 configured to output information to one ormore output devices 816, for example a display and/or a speaker, whichis separate from or integral to the electronic device. The input/outputcontroller 814 is also configured, in some implementations, to receiveand process an input from one or more input devices 818, for example, akeyboard, a microphone, and/or a touchpad. In one implementation, theoutput device 816 also acts as the input device. An example of such adevice is a touch sensitive display. In some implementations, theinput/output controller 814 also outputs data to devices other than theoutput device, e.g. a locally connected printing device. In someimplementations, a user provides input to the input device(s) 818 and/orreceives output from the output device(s) 816.

In some implementations, the functionality described herein isperformed, at least in part, by one or more hardware logic components.According to an implementation, the computing apparatus 802 isconfigured by the program code when executed by the processor 804 toexecute the implementations of the operations and functionalitydescribed. Alternatively, or in addition, the functionality describedherein is performed, at least in part, by one or more hardware logiccomponents. For example, and without limitation, illustrative types ofhardware logic components include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (ASICs),Program-specific Standard Products (ASSPs), System-on-a-chip systems(SOCs), Complex Programmable Logic Devices (CPLDs), Graphics ProcessingUnits (GPUs), and/or the like.

Although some of the present embodiments are described and illustratedas being implemented in a server, controller, cloud service, smartphone,mobile phone, personal computer, and/or tablet computer, these are onlyexamples of a device and not a limitation. As those skilled in the artwill appreciate, the present implementations are suitable forapplication in a wide variety of different types of devices, such asportable and mobile devices, for example, in laptop computers, tabletcomputers, etc.

At least a portion of the functionality of the various elements in thefigures can be performed by other elements in the figures, or an entity(e.g., processor, web service, server, application program, computingdevice, etc.) not shown in the figures.

Although described in connection with an exemplary computing systemenvironment, examples of the disclosure are capable of implementationwith numerous other general purpose or special purpose computing systemenvironments, configurations, and/or devices.

Examples of well-known computing systems, environments, and/orconfigurations that can be suitable for use with aspects of thedisclosure include, but are not limited to, mobile computing devices,personal computers, server computers, hand-held or laptop devices,multiprocessor systems, microprocessor-based systems, set top boxes,programmable consumer electronics, mobile telephones, mobile computingand/or communication devices, network PCs, minicomputers, mainframecomputers, controllers, distributed computing environments that includeany of the above systems and/or devices, and/or the like. Such systemsand/or devices can accept input from the user in any way, including frominput devices such as a keyboard or pointing device, via gesture input,proximity input (for example by hovering), and/or via voice input.

Implementations of the disclosure may be described in the generalcontext of computer-executable instructions, such as program modules,executed by one or more computers or other devices in software,firmware, hardware, or a combination thereof. The computer-executableinstructions can be organized into one or more computer-executablecomponents or modules. Generally, program modules include, but are notlimited to, routines, programs, objects, components, and data structuresthat perform particular tasks or implement particular abstract datatypes. Aspects and implementations of the disclosure can be implementedwith any number and organization of such components or modules. Forexample, aspects and implementations of the disclosure are not limitedto the specific computer-executable instructions or the specificcomponents or modules illustrated in the figures and described herein.Other examples of the disclosure can include differentcomputer-executable instructions and/or components having more or lessfunctionality than illustrated and described herein.

In examples involving a general-purpose computer, aspects andimplementations of the disclosure transform the general-purpose computerinto a special-purpose computing device when configured to execute theinstructions described herein.

The examples and implementations illustrated and/or described herein aswell as examples and implementations not specifically described hereinbut within the scope of aspects and implementations of the disclosureconstitute exemplary means for automatically determining whether acutting tool has penetrated through a wall of a container, forautomatically establishing and/or adjusting a programmed cutting depthof a cutting tool based on tracked results, and/or the like. Forexample, the elements illustrated in FIG. 1 , such as when encoded toperform the operations illustrated in FIGS. 4-7 , constitute exemplarymeans for automatically determining whether a cutting tool haspenetrated through a wall of a container, for automatically establishingand/or adjusting a programmed cutting depth of a cutting tool based ontracked results, etc.

The following clauses describe further aspects:

Clause Set A:

A1. An automated container cutting system for cutting a container, theautomated container cutting system comprising:

a cutting platform;

a cutting tool held by the cutting platform, the cutting tool beingconfigured to cut the container;

a force feedback sensor operatively connected to the cutting tool suchthat the force feedback sensor is configured to measure resistive forceexerted on the cutting tool; and

at least one processor communicatively coupled to the force feedbacksensor, the processor configured to:

-   -   receive resistive force data from the force feedback sensor, the        resistive force data representing resistive force exerted on the        cutting tool as the cutting tool pierces a wall of the        container; and    -   determine whether the cutting tool has penetrated through the        wall of the container using the received resistive force data.

A2. The automated container cutting system of clause A1, wherein the atleast one processor is configured to determine whether the cutting toolhas penetrated through the wall of the container by determining whetherthe cutting tool has pierced an interior side of the wall from thereceived resistive force data.

A3. The automated container cutting system of clause A1, wherein the atleast one processor is configured to determine that the cutting tool haspenetrated through the wall of the container upon a reduction of theresistive force exerted on the cutting tool as the cutting tool piercesthe wall.

A4. The automated container cutting system of clause A1, wherein the atleast one processor is configured to determine whether the cutting toolhas penetrated through the wall of the container by determining a forcechange point within a resistive force trace of the received resistiveforce data.

A5. The automated container cutting system of clause A1, wherein the atleast one processor is configured to limit movement of the cutting tooltoward an interior of the container to limit a cutting depth of thecutting tool upon determining that the cutting tool has penetratedthrough the wall of the container.

A6. The automated container cutting system of clause A1, wherein the atleast one processor is configured to enable further movement of thecutting tool toward an interior of the container to increase a cuttingdepth of the cutting tool upon determining that the cutting tool has notpenetrated through the wall of the container.

A7. The automated container cutting system of clause A1, wherein thecontainer is a first type of container, the at least one processorconfigured to track cuts to a plurality of containers of the first typeand establish and/or adjust a programmed cutting depth of the cuttingtool for the first type of container based on the tracked cuts.

A8. The automated container cutting system of clause A1, furthercomprising a torque sensor operatively connected to the cutting toolsuch that the torque sensor is configured to measure torque exerted onthe cutting tool, wherein the at least one processor is configured to:

-   -   receive torque data from the torque sensor, the torque data        representing torque exerted on the cutting tool as the cutting        tool cuts the wall of the container; and    -   determine at least one of a dullness of the cutting tool or        contact of the cutting tool with an item contained within the        container using the received torque data.

A9. The automated container cutting system of clause A1, wherein thecutting tool comprises a blade.

A10. The automated container cutting system of clause A1, wherein thecutting platform comprises an articulated robot arm.

Clause Set B:

B1. A computer implemented method for automated cutting of containers,the method comprising implementing, by at least one processor, thefollowing operations:

-   -   tracking results of cuts to a plurality of containers of a first        container type; and    -   establishing and/or adjusting a programmed cutting depth of a        cutting tool for the first container type based on the tracked        results.

B2. The method of clause B1, wherein tracking the results of cuts to theplurality of containers of the first container type comprises recordingat least one failed cut, and wherein establishing and/or adjusting theprogrammed cutting depth comprises increasing an established programmedcutting depth for the first container type based on the recorded atleast one failed cut.

B3. The method of clause B1, wherein tracking the results of cuts to theplurality of containers of the first container type comprises recordingat least one over cut, and wherein establishing and/or adjusting theprogrammed cutting depth comprises decreasing an established programmedcutting depth for the first container type based on the recorded atleast one over cut.

B4. The method of clause B1, wherein tracking the results of cuts to theplurality of containers of the first container type comprises recordingfailed cuts and/or over cuts, and wherein establishing and/or adjustingthe programmed cutting depth comprises establishing the programmedcutting depth for the first container type based on the recorded failedcuts and/or over cuts.

B5. The method of clause B 1, further comprising storing cutting depthdata of a vendor and/or a container source, wherein establishing and/oradjusting the programmed cutting depth comprises establishing and/oradjusting the programmed cutting depth for the first container typebased on the stored cutting depth data of the vendor and/or thecontainer source.

Clause Set C:

C1. Apparatus for cutting a container, the apparatus comprising:

-   -   a cutting platform;    -   a cutting tool held by the cutting platform, the cutting tool        being configured to cut the container; and    -   a force feedback sensor operatively connected to the cutting        tool such that the force feedback sensor is configured to        measure resistive force exerted on the cutting tool, the force        feedback sensor being configured to be communicatively coupled        to a processor, wherein the processor receives resistive force        data from the force feedback sensor that represents resistive        force exerted on the cutting tool as the cutting tool pierces a        wall of the container and determines whether the cutting tool        has penetrated through the wall of the container using the        received resistive force data.

C2. The apparatus of clause C1, wherein the processor determines whetherthe cutting tool has penetrated through the wall of the container by atleast one of:

-   -   determining whether the cutting tool has pierced an interior        side of the wall from the received resistive force data;    -   determining a reduction of the resistive force exerted on the        cutting tool as the cutting tool pierces the wall; or    -   determining a force change point within a resistive force trace        of the received resistive force data.

C3. The apparatus of clause C1, wherein the processor limits movement ofthe cutting tool toward an interior of the container to limit a cuttingdepth of the cutting tool upon determining that the cutting tool haspenetrated through the wall of the container.

C4. The apparatus of clause C1, wherein the processor enables furthermovement of the cutting tool toward an interior of the container toincrease a cutting depth of the cutting tool upon determining that thecutting tool has not penetrated through the wall of the container.

C5. The apparatus of clause C1, further comprising a torque sensoroperatively connected to the cutting tool such that the torque sensor isconfigured to measure torque exerted on the cutting tool, wherein theprocessor receives torque data from the torque sensor that representstorque exerted on the cutting tool as the cutting tool cuts the wall ofthe container and determines at least one of a dullness of the cuttingtool or contact of the cutting tool with an item contained within thecontainer using the received torque data.

As used herein, a structure, limitation, or element that is “configuredto” perform a task or operation is particularly structurally formed,constructed, or adapted in a manner corresponding to the task oroperation. For purposes of clarity and the avoidance of doubt, an objectthat is merely capable of being modified to perform the task oroperation is not “configured to” perform the task or operation as usedherein.

Any range or device value given herein can be extended or alteredwithout losing the effect sought, as will be apparent to the skilledperson.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claims.

It will be understood that the benefits and advantages described abovecan relate to one implementation or can relate to severalimplementations. The implementations are not limited to those that solveany or all of the stated problems or those that have any or all of thestated benefits and advantages.

In some examples, the operations illustrated in the figures can beimplemented as software instructions encoded on a computer readablemedium, in hardware programmed or designed to perform the operations, orboth. For example, aspects of the disclosure can be implemented as asystem on a chip or other circuitry including a plurality ofinterconnected, electrically conductive elements.

The order of execution or performance of the operations in examples andimplementations of the disclosure illustrated and described herein isnot essential, unless otherwise specified. That is, the operations canbe performed in any order, unless otherwise specified, and examples andimplementations of the disclosure can include additional or feweroperations than those disclosed herein. For example, it is contemplatedthat executing or performing a particular operation before,contemporaneously with, or after another operation is within the scopeof aspects of the disclosure.

The terms “comprising,” “including,” and “having” are intended to beinclusive and mean that there can be additional elements other than thelisted elements. In other words, the use of “including,” “comprising,”“having,” “containing,” “involving,” and variations thereof, is meant toencompass the items listed thereafter and additional items. Further,references to “one embodiment” or “one implementation” are not intendedto be interpreted as excluding the existence of additional embodimentsor implementations that also incorporate the recited features. Theindefinite articles “a”, “an”, “the”, and “said” as used in thespecification and in the claims, unless clearly indicated to thecontrary, should be understood to mean “at least one.” The phrase“and/or”, as used in the specification and in the claims, should beunderstood to mean “either or both” of the elements so conjoined, i.e.,elements that are conjunctively present in some cases and disjunctivelypresent in other cases. Multiple elements listed with “and/or” should beconstrued in the same fashion, i.e., “one or more” of the elements soconjoined. Other elements may optionally be present other than theelements specifically identified by the “and/or” clause, whether relatedor unrelated to those elements specifically identified. Thus, as anon-limiting example, a reference to “A and/or B”, when used inconjunction with open-ended language such as “comprising” can refer, inone embodiment, to A only (optionally including elements other than B);in another embodiment, to B only (optionally including elements otherthan A); in yet another embodiment, to both A and B (optionallyincluding other elements); etc.

As used in the specification and in the claims, “or” should beunderstood to have the same meaning as “and/or” as defined above. Forexample, when separating items in a list, “or” or “and/or” shall beinterpreted as being inclusive, i.e., the inclusion of at least one, butalso including more than one, of a number or list of elements, and,optionally, additional unlisted items. Only terms clearly indicated tothe contrary, such as “only one of or “exactly one of,” or, when used inthe claims, “consisting of,” will refer to the inclusion of exactly oneelement of a number or list of elements. In general, the term “or” asused shall only be interpreted as indicating exclusive alternatives(i.e. “one or the other but not both”) when preceded by terms ofexclusivity, such as “either,” “one of” “only one of” or “exactly oneof” “Consisting essentially of,” when used in the claims, shall have itsordinary meaning as used in the field of patent law.

As used in the specification and in the claims, the phrase “at leastone,” in reference to a list of one or more elements, should beunderstood to mean at least one element selected from any one or more ofthe elements in the list of elements, but not necessarily including atleast one of each and every element specifically listed within the listof elements and not excluding any combinations of elements in the listof elements. This definition also allows that elements may optionally bepresent other than the elements specifically identified within the listof elements to which the phrase “at least one” refers, whether relatedor unrelated to those elements specifically identified. Thus, as anon-limiting example, “at least one of A and B” (or, equivalently, “atleast one of A or B,” or, equivalently “at least one of A and/or B”) canrefer, in one embodiment, to at least one, optionally including morethan one, A, with no B present (and optionally including elements otherthan B); in another embodiment, to at least one, optionally includingmore than one, B, with no A present (and optionally including elementsother than A); in yet another embodiment, to at least one, optionallyincluding more than one, A, and at least one, optionally including morethan one, B (and optionally including other elements); etc.

Use of ordinal terms such as “first,” “second,” “third,” etc., in theclaims to modify a claim element does not by itself connote anypriority, precedence, or order of one claim element over another or thetemporal order in which acts of a method are performed. Ordinal termsare used merely as labels to distinguish one claim element having acertain name from another element having a same name (but for use of theordinal term), to distinguish the claim elements.

Having described aspects and implementations of the disclosure indetail, it will be apparent that modifications and variations arepossible without departing from the scope of aspects and implementationsof the disclosure as defined in the appended claims. As various changescould be made in the above constructions, products, and methods withoutdeparting from the scope of aspects and implementations of thedisclosure, it is intended that all matter contained in the abovedescription and shown in the accompanying drawings shall be interpretedas illustrative and not in a limiting sense.

It is to be understood that the above description is intended to beillustrative, and not restrictive. For example, the above-describedembodiments (and/or aspects thereof) can be used in combination witheach other. In addition, many modifications can be made to adapt aparticular situation or material to the teachings of the variousembodiments of the disclosure without departing from their scope. Whilethe dimensions and types of materials described herein are intended todefine the parameters of the various embodiments of the disclosure, theembodiments are by no means limiting and are example embodiments. Manyother embodiments will be apparent to those of ordinary skill in the artupon reviewing the above description. The scope of the variousembodiments of the disclosure should, therefore, be determined withreference to the appended claims, along with the full scope ofequivalents to which such claims are entitled. In the appended claims,the terms “including” and “in which” are used as the plain-Englishequivalents of the respective terms “comprising” and “wherein.”Moreover, the terms “first,” “second,” and “third,” etc. are used merelyas labels, and are not intended to impose numerical requirements ontheir objects. Further, the limitations of the following claims are notwritten in means-plus-function format and are not intended to beinterpreted based on 35 U.S.C. § 112(f), unless and until such claimlimitations expressly use the phrase “means for” followed by a statementof function void of further structure.

This written description uses examples to disclose the variousembodiments of the disclosure, including the best mode, and also toenable any person of ordinary skill in the art to practice the variousembodiments of the disclosure, including making and using any devices orsystems and performing any incorporated methods. The patentable scope ofthe various embodiments of the disclosure is defined by the claims, andcan include other examples that occur to those persons of ordinary skillin the art. Such other examples are intended to be within the scope ofthe claims if the examples have structural elements that do not differfrom the literal language of the claims, or if the examples includeequivalent structural elements with insubstantial differences from theliteral language of the claims.

What is claimed is:
 1. An automated container cutting system for cuttinga container, the automated container cutting system comprising: acutting platform; a cutting tool held by the cutting platform, thecutting tool being configured to cut the container; a force feedbacksensor operatively connected to the cutting tool such that the forcefeedback sensor is configured to measure resistive force exerted on thecutting tool; and at least one processor communicatively coupled to theforce feedback sensor, the processor configured to: receive resistiveforce data from the force feedback sensor, the resistive force datarepresenting resistive force exerted on the cutting tool as the cuttingtool pierces a wall of the container; and determine whether the cuttingtool has penetrated through the wall of the container using the receivedresistive force data.
 2. The automated container cutting system of claim1, wherein the at least one processor is configured to determine whetherthe cutting tool has penetrated through the wall of the container bydetermining whether the cutting tool has pierced an interior side of thewall from the received resistive force data.
 3. The automated containercutting system of claim 1, wherein the at least one processor isconfigured to determine that the cutting tool has penetrated through thewall of the container upon a reduction of the resistive force exerted onthe cutting tool as the cutting tool pierces the wall.
 4. The automatedcontainer cutting system of claim 1, wherein the at least one processoris configured to determine whether the cutting tool has penetratedthrough the wall of the container by determining a force change pointwithin a resistive force trace of the received resistive force data. 5.The automated container cutting system of claim 1, wherein the at leastone processor is configured to limit movement of the cutting tool towardan interior of the container to limit a cutting depth of the cuttingtool upon determining that the cutting tool has penetrated through thewall of the container.
 6. The automated container cutting system ofclaim 1, wherein the at least one processor is configured to enablefurther movement of the cutting tool toward an interior of the containerto increase a cutting depth of the cutting tool upon determining thatthe cutting tool has not penetrated through the wall of the container.7. The automated container cutting system of claim 1, wherein thecontainer is a first type of container, the at least one processorconfigured to track cuts to a plurality of containers of the first typeand establish and/or adjust a programmed cutting depth of the cuttingtool for the first type of container based on the tracked cuts.
 8. Theautomated container cutting system of claim 1, further comprising atorque sensor operatively connected to the cutting tool such that thetorque sensor is configured to measure torque exerted on the cuttingtool, wherein the at least one processor is configured to: receivetorque data from the torque sensor, the torque data representing torqueexerted on the cutting tool as the cutting tool cuts the wall of thecontainer; and determine at least one of a dullness of the cutting toolor contact of the cutting tool with an item contained within thecontainer using the received torque data.
 9. The automated containercutting system of claim 1, wherein the cutting tool comprises a blade.10. The automated container cutting system of claim 1, wherein thecutting platform comprises an articulated robot arm.
 11. A computerimplemented method for automated cutting of containers, the methodcomprising implementing, by at least one processor, the followingoperations: tracking results of cuts to a plurality of containers of afirst container type; and establishing and/or adjusting a programmedcutting depth of a cutting tool for the first container type based onthe tracked results.
 12. The method of claim 11, wherein tracking theresults of cuts to the plurality of containers of the first containertype comprises recording at least one failed cut, and whereinestablishing and/or adjusting the programmed cutting depth comprisesincreasing an established programmed cutting depth for the firstcontainer type based on the recorded at least one failed cut.
 13. Themethod of claim 11, wherein tracking the results of cuts to theplurality of containers of the first container type comprises recordingat least one over cut, and wherein establishing and/or adjusting theprogrammed cutting depth comprises decreasing an established programmedcutting depth for the first container type based on the recorded atleast one over cut.
 14. The method of claim 11, wherein tracking theresults of cuts to the plurality of containers of the first containertype comprises recording failed cuts and/or over cuts, and whereinestablishing and/or adjusting the programmed cutting depth comprisesestablishing the programmed cutting depth for the first container typebased on the recorded failed cuts and/or over cuts.
 15. The method ofclaim 11, further comprising storing cutting depth data of a vendorand/or a container source, wherein establishing and/or adjusting theprogrammed cutting depth comprises establishing and/or adjusting theprogrammed cutting depth for the first container type based on thestored cutting depth data of the vendor and/or the container source. 16.An apparatus for cutting a container, the apparatus comprising: acutting platform; a cutting tool held by the cutting platform, thecutting tool being configured to cut the container; and a force feedbacksensor operatively connected to the cutting tool such that the forcefeedback sensor is configured to measure resistive force exerted on thecutting tool, the force feedback sensor being configured to becommunicatively coupled to a processor, wherein the processor receivesresistive force data from the force feedback sensor that representsresistive force exerted on the cutting tool as the cutting tool piercesa wall of the container and determines whether the cutting tool haspenetrated through the wall of the container using the receivedresistive force data.
 17. The apparatus of claim 16, wherein theprocessor determines whether the cutting tool has penetrated through thewall of the container by at least one of: determining whether thecutting tool has pierced an interior side of the wall from the receivedresistive force data; determining a reduction of the resistive forceexerted on the cutting tool as the cutting tool pierces the wall; ordetermining a force change point within a resistive force trace of thereceived resistive force data.
 18. The apparatus of claim 16, whereinthe processor limits movement of the cutting tool toward an interior ofthe container to limit a cutting depth of the cutting tool upondetermining that the cutting tool has penetrated through the wall of thecontainer.
 19. The apparatus of claim 16, wherein the processor enablesfurther movement of the cutting tool toward an interior of the containerto increase a cutting depth of the cutting tool upon determining thatthe cutting tool has not penetrated through the wall of the container.20. The apparatus of claim 16, further comprising a torque sensoroperatively connected to the cutting tool such that the torque sensor isconfigured to measure torque exerted on the cutting tool, wherein theprocessor receives torque data from the torque sensor that representstorque exerted on the cutting tool as the cutting tool cuts the wall ofthe container and determines at least one of a dullness of the cuttingtool or contact of the cutting tool with an item contained within thecontainer using the received torque data.